The invention discloses a bionic crawling robot taking inchworm motion as a blueprint and a control method thereof. The bionic crawling robot mainly comprises a head structure, a middle connecting unit and a tail structure, and the head structure and the tail structure are connected through a middle connecting rod and shape memory alloy springs. Power is provided through stretching and retractingof the three shape memory alloy springs in different time sequences, robot movement is guaranteed to be achieved by means of different friction force generated by the head structure and the tail structure of the robot, and spherical joints and short shafts at the two ends of the connecting rod can achieve rotation in the movement direction and avoid rotation in the non-movement direction at the same time. The robot is simple in structure and easy to control, can carry corresponding sensors or auxiliary equipment and can achieve the functions of detection of complex terrains or environments, rescue, cluster movement and the like.
本发明公开一种以尺蠖运动为蓝本的仿生爬行机器人及其控制方法,主要包括头部结构、中间连接单元和尾部结构,头部结构与尾部结构由中间连杆和形状记忆合金弹簧实现连接。通过三根形状记忆合金弹簧不同时序的伸缩提供动力,依靠机器人头部、尾部结构所产生摩擦力不同,以确保机器人运动的实现,连杆两端的球状关节及短轴可实现运动方向的转动同时又避免非运动方向的转动。本发明结构较为简单,易于控制,可搭载相应的传感器或辅助设备可实现对复杂地形或环境的探测、救援、集群运动等功能。
Bionic crawling robot and autonomous control method thereof
一种仿生爬行机器人及其自主控制方法
2021-04-02
Patent
Electronic Resource
Chinese